/* 
 *  Incub - incubate your baby robot
 *  Copyright (C) 2008 Stanislaw Szymczyk
 *  e-mail: sszymczy@gmail.com   www: http://cogville.cog-lab.com
 *
 *  This file is part of Incub.
 *
 *  Incub is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  Incub is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with Incub.  If not, see <http://www.gnu.org/licenses/>.
 * 
 */
 
#ifndef TRANSFORMABLE_H_
#define TRANSFORMABLE_H_

#include <string>
#include "Quaternion.h"

class Transformable {
	protected:
	float x, y, z;
	float yaw, pitch, roll;
	Quaternion rotation;
	public:
	Transformable();
	void setPosition(std::string pos);
	void setPosition(float x, float y, float z);
	void setPosition(Vector3D v);
	Vector3D getPosition();
	float getX();
	float getY();
	float getZ();
	void setRotation(std::string pos);	
	void setRotation(float roll, float pitch, float yaw);
	void setRotation(Quaternion q);
	Quaternion& getRotation();
	float getYaw();
	float getPitch();
	float getRoll();
	virtual ~Transformable() { };
};

#endif /*TRANSFORMABLE_H_*/
